Driverless vehicle system and method

Abstract

The driverless vehicle system and method of control therefor includes a fixed camera fixedly mounted to a vehicle and a movable camera movably mounted to the vehicle. A control unit selectively inputs an image from one of the fixed camera and the movable camera, determines a trace angle based on the input image, and controls a steering angle of the vehicle based on the trace angle. The control unit also compares the trace angle to a first reference angle when the control unit inputs images from the fixed camera, and if the trace angle is greater than the first reference angle, the control means generates a desired angular position for the movable camera. A camera moving mechanism moves the movable camera to the desired angular position. Thereafter, the control means selects the movable camera from which to input images.

What is claimed is: 
     
       1. A method of controlling a driverless vehicle, comprising: (a) inputting a first image with a fixed camera, said fixed camera being fixedly mounted to a vehicle;   (b) determining a tracing angle based on said image from said fixed camera, said tracing angle being an angle between a current traveling path of said vehicle and a desired traveling path of said vehicle;   (c) determining whether said tracing angle is greater than a first reference angle;   (d) rotating a movable camera, movably mounted to said vehicle, to a desired angular position based on said tracing angle when step (c) determines that said tracing angle is greater than said first reference angle;   (e) inputting an image with said movable camera when step (c) determines that said tracing angle is greater than said first reference angle;   (f) determining a new tracing angle based on said image from said movable camera when step (c) determines that said tracing angle is greater than said first reference angle; and   (g) controlling a steering angle of said vehicle based on said new tracing angle determined in step (f) when step (c) determines that said tracing angle is greater than said first reference angle.   
     
     
       2. The method of claim 1, wherein said step (g) controls said steering angle of said vehicle based on said tracing angle determined in step (b) when step (c) does not determine that said tracing angle is greater than said first reference angle. 
     
     
       3. The method of claim 1, further comprising the following steps after said step (g), (h) inputting a second image with said movable camera when step (c) determines that said tracing angle is greater than said first reference angle;   (i) determining a tracing angle based on said second image input in step (h);   (j) determining whether said tracing angle determined in step (i) is less than a second reference angle;   (k) returning to step (a) if step (j) determines that said tracing angle determined in step (i) is less than said second reference angle.   
     
     
       4. The method of claim 3, further comprising: (1) returning to step (g) if step (j) determines that said tracing angle determined in step (i) is not less than a second reference angle.   
     
     
       5. A driverless vehicle system comprising: a fixed camera fixedly mounted to a vehicle;   a movable camera movably mounted to said vehicle;   control means for selectively inputting an image from one of said fixed camera and said movable camera, for determining a trace angle based on said input image, and for controlling a steering angle of said vehicle based on said trace angle; and   movable means for moving said movable camera to said desired angular position,   wherein said control means compares said trace angle to a first reference angle when said control means inputs images from said fixed camera, and if said trace angle is greater than said first reference angle, said control means generates a desired angular position for said movable camera, and   wherein said control means selects said movable camera from which to input an image after said movable means moves said movable camera to said desired angular position when said trace angle is greater than said first reference angle.   
     
     
       6. The driverless vehicle system of claim 5, wherein said movable means comprises: a rotary shaft upon which said movable camera is mounted;   a motor;   a gear arrangement transferring power generated by said motor to said rotary shaft to rotate said rotary shaft;   position sensing means for sensing an angular position of said rotary shaft, said angular position of said rotary shaft corresponding to an angular position of said movable camera; and   motor control means for controlling operation of said motor based on said sensed angular position of said rotary shaft such that said movable camera achieves said desired angular position.   
     
     
       7. The driverless vehicle system of claim 5, wherein said control means compares said trace angle to a second reference angle when said control means inputs images from said movable camera, and if said trace angle is less than said second reference angle, said control means selects said fixed camera from which to input an image. 
     
     
       8. A driverless vehicle system comprising: a fixed camera fixedly mounted to a vehicle;   a movable camera movably mounted to said vehicle;   control means for selectively inputting an image from one of said fixed camera and said movable camera, for determining a trace angle based on said input image, and for controlling a steering angle of said vehicle based on said trace angle; and movable means for moving said movable camera to a desired angular position, wherein said movable means comprises:   a rotary shaft upon which said movable camera is mounted;   a motor;   a gear arrangement transferring power generated by said motor to said rotary shaft to rotate said rotary shaft;   position sensing means for sensing an angular position of said rotary shaft, said angular position of said rotary shaft corresponding to an angular position of said movable camera; and   motor control means for controlling operation of said motor based on said sensed angular position of said rotary shaft such that said movable camera achieves said desired angular position.   
     
     
       9. A driverless vehicle system comprising: a fixed camera fixedly mounted to a vehicle;   a movable camera movably mounted to said vehicle; and   control means for selectively inputting an image from one of said fixed camera and said movable camera, for determining a trace angle based on said input image, and for controlling a steering angle of said vehicle based on said trace angle,   wherein said control means compares said trace angle to a reference angle when said control means inputs images from said movable camera, and if said trace angle is less than said reference angle, said control means selects said fixed camera from which to input an image.   
     
     
       10. A method of controlling a driverless vehicle, comprising: (a) imaging a roadway using a fixed camera fixedly mounted to a vehicle;   (b) imaging a roadway using a movable camera movably mounted to said vehicle;   (c) selectively inputting an image from one of said fixed camera and said movable camera;   (d) determining a trace angle based on said input image;   (e) controlling a steering angle of said vehicle based on said trace angle;   (f) comparing said trace angle to a first reference angle when step (c) inputs images from said fixed camera;   (g) generating a desired angular position for said movable camera if said trace angle is greater than said first reference angle; and   (h) moving said movable camera to said desired angular position,   wherein said step (c) selects said movable camera from which to input an image after said movable means moves said movable camera to said desired angular position when said trace angle is greater than said first reference angle.   
     
     
       11. The method of claim 10, further comprising: (i) comparing said trace angle to a second reference angle when step (c) inputs images from said movable camera; and wherein   said step (c) selects said fixed camera from which to input an image if said trace angle is less than said second reference angle.   
     
     
       12. A method of controlling a driverless vehicle, comprising: (a) imaging a roadway using a fixed camera fixedly mounted to a vehicle;   (b) imaging a roadway using a movable camera movably mounted to said vehicle;   (c) selectively inputting an image from one of said fixed camera and said movable camera;   (d) determining a trace angle based on said input image;   (e) controlling a steering angle of said vehicle based on said trace angle; and   (f) comparing said trace angle to a reference angle when step (c) inputs images from said movable camera,   wherein said step (c) selects said fixed camera from which to input an image if said trace angle is less than said reference angle.   
     
     
       13. A driverless vehicle system comprising: a fixed camera fixedly mounted to a vehicle;   a movable camera movably mounted to said vehicle; and   control means for selectively inputting an image from one of said fixed camera and said movable camera, for determining a trace angle based on said input image, and for controlling a steering angle of said vehicle based on said trace angle,   wherein the control means selectively input the image from one of said fixed and movable cameras based on a comparison between an angle derived from an image produced by at least one of those cameras and a threshold angle value.   
     
     
       14. A method of controlling the driverless vehicle comprising: (a) imaging a roadway using a fixed camera fixedly mounted to a vehicle;   (b) imaging a roadway using a movable camera movably mounted to said vehicle;   (c) selectively inputting an image from one of said fixed camera and said movable camera;   (d) determining a trace angle based on said input image; and   (e) controlling a steering angle of said vehicle based on said trace angle;   wherein the step of selectively inputting the image produced by one of said fixed and movable cameras includes: deriving an angle from an image produced by at least one of said fixed and movable cameras;   comparing the derived angle to a threshold angle value; and   selectively inputting the image produced by one of said fixed and movable cameras based on the comparison result.